Transesophageal ultrasound probe with an adaptive bending section

ABSTRACT

When transesophageal echocardiography is used to obtain a transgastric short axis view of the left ventricle of the heart, the best place to position the transducer is in the fundus of the stomach, aimed up through the left ventricle. The probes disclosed herein facilitate placement of the transducer in the optimum position within the fundus, despite wide variations in the distance between the lower esophageal sphincter and the fundus among different subjects. In one preferred embodiment, the ultrasound probe uses a bending section with a series of vertebrae and stiffening that is more flexible proximally and less flexible distally, which causes the probe to bend relatively sharply at the point where the probe exits the lower esophageal sphincter.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.11/681,837, filed Mar. 5, 2007, which claims the benefit of (a) U.S.Provisional Application 60/779,626, filed Mar. 6, 2006, and (b) U.S.Provisional Application 60/886,471, filed Jan. 24, 2007.

BACKGROUND

Transesophageal echocardiography (TEE) is an ultrasound imagingtechnique that provides images of the heart for diagnostic and/ormonitoring purposes. One particularly beneficial use of TEE is forobtaining images of the transgastric short axis view (TGSAV) of the leftventricle. To obtain the best images of the TGSAV using TEE, theultrasound transducer should ideally be positioned in the fundus of thestomach, with the ultrasound beam aimed through the left ventricle.

TEE probes for imaging the TGSAV typically contain mechanicalarticulation mechanisms to bend the distal end the probe into thedesired position in the fundus. Since conventional TEE probes arerelatively large (i.e., on the order of ½ inch in diameter), thearticulation mechanisms can be relatively strong. As a result, when theprobe is not perfectly aligned with the desired position, the probe canexert significant forces on the relevant anatomical structures to pushthe distal end of the probe into the desired location for obtaining theTGSAV. However, when smaller TEE probes are used (e.g., the 5 or 6 mmdiameter probes described in U.S. patent application Ser. No.10/996,816), the probe may not be able to exert enough force to push thedistal end of the probe into the desired location.

U.S. application Ser. No. 10/996,816, incorporated herein by reference,discloses a TEE probe for use in adults that is preferably less than 7.5mm in diameter, more preferably less than 6 mm in diameter, and mostpreferably about 5 mm in diameter. It also discloses a pediatric TEEprobe that is preferably between about 2.5 and 4 mm in diameter.

To obtain the best images of the TGSAV, the ultrasound transducer (whichis located in the distal end of the probe) should be positioned in thefundus of the stomach, pressed up against the mucosa. The optimalposition of the transducer within the fundus depends on a number ofparameters including the size of the heart and the position of the heartrelative to the fundus. These parameters may vary, for example, withbody size, body habitus, and/or anatomical relationships. The optimumposition for the transducer within the fundus is referred to hereinafteras “OPF”.

To get the transducer at or near the OPF to perform imaging, the distalend of the probe is inserted in its unbent position into the patient'snose or mouth, down through the patient's esophagus, and into the fundusof the stomach. After the tip of the probe has been inserted to theappropriate depth, the operator (e.g., a doctor) actuates anarticulation mechanism to bend the distal end of the probe until itcomes into contact with the mucosa lining the superior portion of thefundus, preferably positioning the distal end of the probe at anacceptable position or, most preferably, at the OPF. Once the distal endof the probe is at a position, ultrasound images can be obtained. If,based on the images, it is determined that the distal end is not at anacceptable position or the OPF, the position of the probe may beadjusted to improve the images.

The entrance from the esophagus to the stomach is called the loweresophageal sphincter. The lower esophageal sphincter is a relativelystable area because the esophagus itself has a thicker musculature atthis point and because the area is supported where it passes through thediaphragm. If the distance from the lower esophageal sphincter to theOPF was the same in all patients, a probe could be designed with itsbending joint located at a corresponding distance from the distal tip ofthe probe. In practice, however, the distance between the loweresophageal sphincter and the OPF (referred to hereinafter as “LOD”)varies from patient to patient. For example, the LOD may typically bebetween 4-10 cm in adults, and 2-5 cm in children, depending upon bodysize, body habitus and the position of the heart relative to thediaphragm.

Conventional large TEE probes (e.g., ½ inch in diameter) have a bendingpoint that is located at a fixed distance from the distal tip of theprobe, and can exert significant forces on the relevant anatomicalstructures to push the distal end of the probe into a suitable locationfor obtaining the TGSAV. However, the operator of the device may notperceive the forces as being high due to the mechanical advantageprovided by the articulation controls. The distal tip positioning ofconventional probes is accomplished by deflecting the relativelycompliant lower esophagus and upper stomach cavity with a stiff probeinsertion tube and by a powerful bending section within the probe.However, when smaller TEE probes are used, the probe will often beunable to exert enough force to push the distal end of the probe into asuitable location. Examples of smaller TEE probes include TEE probes foradults that are less than 7.5 mm in diameter, and pediatric TEE probesthat are preferably less than 4 mm in diameter (as described in U.S.application Ser. No. 10/996,816).

BRIEF SUMMARY OF THE INVENTION

A probe is provided with a transducer disposed in the distal section,and a bending section disposed proximal to the transducer. The proximalportion of the bending section is more flexible than the distal portionof the bending section. This arrangement causes the bending section toconform to the relevant anatomy by first bending near the proximalportion of the bending section, or by bending a greater amount in theproximal portion as compared to the distal portion of the bendingsection.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated herein and constitutepart of this specification, illustrate exemplary embodiments of theinvention, and, together with the general description given above andthe detailed description given below, serve to explain the features ofthe invention.

FIGS. 1A and 1B illustrate the distal portion of an ultrasound probe inits straight and bent positions, respectively.

FIGS. 1C and 1D illustrate the distal portion of another ultrasoundprobe that has a different bending point (in its straight and bentpositions, respectively).

FIGS. 2A, 2B, and 2C illustrate the distal portion of another embodimentof an ultrasound probe that is configured to bend in different locationsdepending on the anatomy of the patient.

FIGS. 3A, 3B, and 3C show details of three alternative embodiments forthe bending portion of the ultrasound probe of FIGS. 2A-2C.

FIGS. 4A and 4B show the distal portion of the ultrasound probe of FIGS.2A-2C being used in subjects with different sized anatomies.

FIGS. 5A, 5B, and 5C show isometric, end, and cross-sectional views of avertebra of a fourth alternative preferred embodiment of the bendingportion of the probe of FIG. 2A.

FIG. 6 shows an isometric view of the fourth alternative preferredembodiment of the bending portion of the probe of FIG. 2A.

FIG. 7 shows a cross-sectional view of the bending portion of FIG. 6.

FIG. 8 shows the spring plate of FIG. 7.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIGS. 1A-1D illustrate a system for positioning a transducer in adesired anatomical location (e.g., in the OPF, aimed to image the TGSAVof the left ventricle) that can be used even with smaller probes. Inthis embodiment, a set of probes is provided as a kit (not shown), witheach probe in the kit designed to bend at a different point along theproximal-distal longitudinal axis of the probe. When using the systemfor ultrasound imaging, the operator selects one of the probes from thekit (i.e., the one that is expected to fit best), and uses that probe toobtain the desired images. Note that while only two probes from the kitare illustrated in FIGS. 1A-1D, the kit preferably includes additionalprobes (not shown) to cover all the bending points that may be needed.For example, a kit may include five probes, with their bending pointslocated 4, 5, 6, 7, and 8 cm from the transducer, respectively.

FIGS. 1A and 1B illustrate a first probe 10 from the kit in straight andbent positions, respectively. FIGS. 1C and 1D similarly illustrate asecond probe 10′ from the kit in straight and bent positions,respectively. The first probe 10 and second probe 10′ each include aflexible shaft 12, which is preferably stiff enough yet flexible enoughto permit the operator to position the distal ends 16 of the first probe10 or second probe 10′ into the relevant anatomical structures (e.g.,the esophagus) at the desired depth of penetration. The shaft 12 ispreferably flexible enough and thin enough to permit placement of theprobe within the relevant anatomy, and to permit the shaft to be leftin-situ for extended periods of time without causing problems orexcessive discomfort. Examples of suitable configurations for the shaftinclude those found in conventional nasogastric and feeding tubes, aswell as transesophageal Doppler monitoring probes such as those made byDeltex Medical Group plc of Chichester, United Kingdom.

The components that are proximal to the flexible shaft 12 (such as ahandle with articulation controls, an interface cable, and a connectorthat mates to an imaging system) are well known to persons skilled inthe relevant arts, and as such are not described in detail herein.Similarly, the mechanism for transmitting the operator's actuations ofthe controls through the shaft to the working end of the probe (e.g.,pull wires, not shown) are also well known and not described herein.

Distally beyond the flexible shaft 12 is a bending section 15 that ismuch more flexible than the shaft 12. The bending section 15 may beconstructed, for example, using one of the conventional bendingmechanisms described below, preferably with a relatively small bendingradius (e.g., on the order of 1-2½ cm). Distal to the bending section 15is a distal section 16 that is less flexible than the bending section15. An ultrasound transducer 18 is housed within this distal section 16,preferably mounted transversely, and is used to obtain images (e.g., asdescribed in application Ser. No. 10/996,816).

In FIGS. 1A and 1B, bending section 15 includes a bending point 15 a atthe longitudinal center of the bending section 15, and the bending point15 a is located at a distance D1 from the longitudinal center of thetransducer 18. Once the first probe 10 has been inserted in thepatient's body (e.g., using an endoscope style control handle, notshown), the operator actuates a control mechanism (not shown, butlocated proximally to the flexible shaft 12) to bend the distal tip ofthe first probe 10 into a desired position. Since the bending section 15is more flexible than the flexible shaft 12 or the distal section 16,the first probe 10 will bend at the bending section 15, centered atbending point 15 a, in response to actuation of the bending control, asshown in FIG. 1B. As a result, the longitudinal center of the transducer18 will be positioned out longitudinally at a distance D1 in a directionat least partly radial to the longitudinal axis of the flexible shaft12.

FIGS. 1C and 1D illustrate a second probe 10′ from the kit, which isidentical to the probe of FIGS. 1A and 1B, except that the bending point15 a of the bending section 15 for the second probe 10′ is located at adistance D2 from the transducer 18 instead of at a distance D1. Becausethe bending section 15 and bending point 15 a are located in a locationalong the length of second probe 10′ that is different than thelocations of the bending section 15 and the bending point 15 a in thefirst probe 10, when the operator actuates the bending controls (notshown), the second probe 10′ will bend so that the longitudinal centerof the transducer 18 is positioned out longitudinally at a distance D2in a direction at least partly radial to the longitudinal axis of theflexible shaft 12, as shown in FIG. 1D.

By using a kit of probes, each having a bending section 15 and a bendingpoint 15 a that is located at different longitudinal distances from thetransducer 18, the operator advantageously obtains the ability toposition the transducer at the desired radial distance from the mainshaft axis of the probe, to help obtain the desired image. The initialselection of which probe to use may be made using any medicallyappropriate technique, e.g., based on the size, weight, sex, or age ofthe patient, or any combination of such characteristics. Alternatively,a more precise estimate of the optimum radial distance maybe obtainedusing noninvasive imaging techniques such as CT, NMR, or conventionalechocardiograms. Once an image of the relevant anatomy is obtained, thedistance between the lower esophageal sphincter and the OPF may bedetermined from the image, and the appropriate probe may be selectedfrom the kit based on that distance.

It is believed that one disadvantage of using a kit of probes is thatthe operator may select the wrong probe, in which case the operator willhave to either proceed with a sub-optimum probe or withdraw the probefrom the patient's body and then insert another probe to obtain thedesired image. It is also believed that another disadvantage is thatmanaging inventory for an entire kit of probes is more complicated thanmanaging inventory for a single probe that can be used for mostpatients.

FIGS. 2A-2C illustrate an alternative probe 20 that avoids thesepossible disadvantages because it can be used for a much wider varietyof patients than any individual probe from the above-described kit. Theprobe 20 has a flexible shaft 22 that is similar to the flexible shaft12 described above. As in the FIG. 1 embodiment, the components that areproximal to the flexible shaft 22 and the mechanism for transmitting theoperator's actuations of the controls to the working end of the probeare well know and are not described herein.

Distally beyond the flexible shaft 22 is a bending section 25 that ispreferably more flexible than the shaft 22, with the proximal portionsof the bending section 25 being more flexible than the distal portionsof the bending section 25 (i.e., the elastic stiffness of the bendingsection 25 increases in the distal direction). Distal to the bendingsection 25 is a distal section 26 that is preferably less flexible thanany portion of the bending section 25. An ultrasound transducer 28 ishoused within this distal section 26, preferably mounted transversely asdescribed above in connection with FIGS. 1A-1D.

As a result of the decreasing flexibility in the distal direction alongthe length of the bending section 25, when the bending control mechanism(not shown, but located proximally to the flexible shaft 22) is actuatedby the operator, the bending section 25 will begin to flex about a pointthat is distal and adjacent to the anatomical constraint 24 (e.g., thelower esophageal sphincter). In the vertebra-based embodiments describedherein, the vertebrae distal to the first unrestrained vertebra flexminimally or not at all initially, and then flex sequentially once allof the more proximal vertebrae have reached their limit of motion in a“domino” effect. Since the most proximal sections articulate before themore distal sections start to move, the more distal sections will remainin their initial unflexed position with respect to each other, as showin FIGS. 2B and 2C. Once the distal section contacts the mucosa of thestomach or esophagus, images can be obtained using any suitable imagingtechnique. If, based on the images, it turns out that the distal end isnot positioned in the best location for imaging, the position of theprobe may require adjustment to improve the images. If repositioning toa different LOD is desired, the probe can be unflexed, advanced furtherthrough the lower esophageal sphincter, then re-flexed to achieve agreater LOD (or conversely advanced less to achieve a shorter LOD).

For example, to obtain an ultrasound image of imaging plane IP1 shown inFIG. 2B (imaging plane IP1 is shown on edge, perpendicular to the page),the operator inserts the probe 20 through the mouth or nose into theesophagus until the longitudinal center of the transducer 28 extends adistance D1 past the relevant anatomical constraint 24 (i.e., the loweresophageal sphincter). The operator then actuates the control mechanism,which causes the bending section 25 of the probe 20 to bend at a bendingpoint 25 a. Because the more proximal portions of the bending section 25are more flexible than the more distal portions of the bending section25, the bending section 25 will bend relatively sharply at the lowerleft corner of the anatomically constraint 24 at the bending point 25 a,and portions of the bending section 25 that are distal to the bendingpoint 25 a will remain relatively straight. Continued actuation of thebending control will cause the bending section 25 to bend further untilthe distal section 26 of the probe 20 comes in contact with the relevantanatomy (e.g., the superior portion of the fundus) as shown in FIG. 2B,with the transducer 28 positioned so that an image along imaging planeIP1 can be obtained.

Similarly, to obtain an ultrasound image on an imaging plane IP2 shownin FIG. 2C (imaging plane IP2 is shown on edge, perpendicular to thepage), the operator inserts the probe 20 until the longitudinal centerof the transducer 28 extends a distance D2 past the relevant anatomicalconstraint 24 and then actuates the control mechanism, which causes thebending section 25 of the probe 20 to bend relatively sharply at thelower left corner of the anatomically constraint 24 at a bending point25 b until the distal section 26 comes in contact with the relevantanatomy, with the transducer 28 positioned so that an image alongimaging plane IP2 can be obtained.

A wide variety of mechanisms may be used to make the bending section 25more flexible proximally and less flexible distally.

FIG. 3A illustrates a first example of a suitable multi-flexibilitybending section 25 with a proximal end 25 p connecting to the flexibleshaft 22 (not shown) and a distal end 25 d connecting to the distalsection 26 (not shown). This embodiment includes a central core 32 witha conventional bending mechanism such as a vertebrae/control wireconstruction that is commonly used in many medical devices (e.g.,ultrasound probes, endoscopes, and catheters). The wires (not shown) tothe transducer (not shown) pass through the central core 32. The centralcore may be configured, for example, as a vertebrae section (not shown)with a single or multiple pull wires (not shown) to affect the requiredmotion. Suitable designs for the vertebra themselves include pinned,beaded, “wobble washer”, and cut plastic extrusion designs. In all thesedesigns, the vertebrae (not shown) are stacked and designed to providethe desired degree and radius of bending. Examples of suitable bendingmechanisms include those disclosed in U.S. Pat. Nos. 5,271,382,5,143,475, 5,271,381, 5,704,898, and 4,905,666, each of which isincorporated herein by reference in its entirety.

The central core 32 is surrounded by a jacket 34 (shown in crosssection) with a thickness that gradually increases in the distaldirection along the length of the jacket 34. In FIG. 3A, the thicknessof the jacket 34 is exaggerated with respect to the central core 32 tomake the change in thickness more visible. In practice, the jacket 34 ispreferably much thinner than shown in FIG. 3A. Suitable materials forthe jacket 34 include elastomerics and thermoplastics such as C-flex,Kraton, silicone, polyurethane, natural rubber, synthetic rubber, etc.In one preferred embodiment, the thickness of the jacket 34 variesbetween about 0.1 mm and about ¼ mm at the proximal end 25 p, andincreases gradually so that the thickness at the distal end 25 d isabout three or four times the thickness at the proximal end 25 p.

In an alternative embodiment (not shown) to the embodiment illustratedin FIG. 3A, a central core similar to the central core 32 illustrated inFIG. 3A is surrounded by a jacket with a constant thickness along thelength of the alternative central core. However, instead of decreasingthe flexibility of the jacket in the distal direction by increasing thethickness of the jacket in the distal direction, the flexibility isdecreased in the distal direction by increasing the durometer of thejacket material in the distal direction. This may be implemented, forexample, by using a curable material such as polyurethane or siliconeand curing the material of the jacket to different degrees at differentpoints along the length of the jacket (e.g., by using heat orultraviolet light curing or variable catalysts).

FIG. 3B illustrates another example of a multi-flexibility bendingsection. However, instead of gradually decreasing the flexibility of thejacket in the distal direction by gradually increasing the thickness ofthe jacket in the distal direction, the flexibility of the bendingsection 25 is decreased in the distal direction in a stepwise manner.This embodiment uses a central core 32 similar to the core describeabove in connection with the FIG. 3A embodiment. The central core 32 ispreferably completely surrounded by a first jacket layer 35A (shown incross section). The distal-most two-thirds of the bending section 25 isthen surrounded by a second jacket layer 35B, and the distal-mostone-third of the bending section 25 is then surrounded by a third jacketlayer 35C. Note that while FIG. 3B illustrates three steps with each ofthe jacket layers 35A, 35B, and 35C, the number of steps can be variedto provide the desired bending characteristics. The same materials usedfor the jacket 34 in the FIG. 3A embodiment may be used in thisembodiment, and a similar central core 32 may also be used. A suitablethickness for each of the jacket layers 35A, 35B, and 35C is betweenabout 0.1 and about 0.25 mm. Note that the thicknesses of the jacketlayers 35A, 35B, and 35C are exaggerated in FIG. 3B with respect to thecentral core 32 to make the change in thickness more visible.

FIG. 3C illustrates yet another example of a multi-flexibility bendingsection. In this embodiment, a wall 37 that is preferably cylindrical orelliptical surrounds a central channel 36. The wires (not shown) to thetransducer (note shown) pass through this central channel 36. A suitablewall thickness is between about ¼ mm and about 1 mm, and suitablematerials for the wall 37 include polyurethane, nylon, polyethylene,Pebax, plus other polymers and copolymers known to those skilled in theart. Notches 38 are cut into the wall 37 at intervals along the lengthof the wall 37. One suitable pattern for the notches is illustrated inFIG. 3C, with the notches 38 on one cross-sectional side of the wall 37(on the right side of FIG. 3C) staggered along the length of the wall 37from the notches 38 on the other side of the wall 37 (on the left sideof FIG. 3C). This results in a plurality of vertebra-like sections thatare separated by the notches 38. The notches at the proximal end 25 p ofthe bending section 25 are also wider and/or deeper than the notches atthe distal end 25 d, so that the proximal end 25 p will be more flexiblethan the distal end 25 d. One suitable range of notch 38 sizes wouldrange from about half the thickness of wall 37 at the proximal end 25 pup to the full thickness of wall 37 at the distal end 25 d, and othernotch configurations that provide the desired flexibility gradient willbe apparent to persons skilled in the relevant arts. Optionally, thenotches 38 may be filled with a suitable material that does not impedebending (e.g., silicone) and/or the walls 37 may be surrounded by a thinsheath (not shown) of, e.g., C-flex, Kraton, silicone, etc.

In one variation of this embodiment (not shown), instead of alternatingthe notches on the opposing sides of the wall 37 illustrated in FIG. 3C,annular notches may be used that are deeper and or wider at the proximalend 25 p than at the distal end 25 d. Alternatively, constant-sizednotches may be used, but the pitch of the constant-sized notches can bevaried, i.e., from constant-sized notches that are spaced relativelyclose together at the proximal end 25 p to a more distant spacing at thedistal end 25 d. In another variation of this embodiment (not shown),the alternating notches may be replaced by a helical notch that runscircumferentially around and along the length of the entire bendingsection 25, with the width and/or depth of the helical notch decreasingas the helical notch approaches the distal end 25 d of the bendingsection 25. Alternatively, instead of varying the width and/or depth ofthe helical notch, a helical notch with a constant width and depth maybe used, but the helical pitch of the helical notch is varied, i.e.,from a relatively tight helix at the proximal end 25 p to a relativelylooser helix at the distal end 25 d. In yet another alternativeembodiment (not shown), vertical notches that run along the longitudinallength of the bending section 25 maybe cut into the walls 37, with thewidth and/or depth of the vertical notches gradually decreasing distallyfrom the proximal end 25 p to the distal end 25 d of the bending section25.

In other alterative embodiments (not shown), instead of relying on thejacket or walls to vary the flexibility of the bending section 25, thechanges in flexibility may be designed into the central core 32 by,e.g., varying the dimensions of the individual segments contained withinthe central core 32 to provide more flexibility at the proximal end 25 pand less flexibility at the distal end 25 d, in a manner that will beapparent to persons skilled in the relevant arts. When the bendingsection 25 includes a braid, variations in flexibility may also beprovided in the braid by, e.g., painting a triangular pattern offlexible paint into the braid, or by impregnating sequential sections ofthe braid with different materials. Numerous other alternative ways tomake the bending section 25 more flexible proximally and less flexibledistally will also be apparent to persons skilled in the relevant arts.

In yet another preferred embodiment, the bending section can providecontrollable movement and steering of the probe while maintaining avariable stiffness along the longitudinal length of the bending section.This is accomplished with a bending section that has a sheath enclosinga series of axially-arranged vertebrae aligned end to end along thelongitudinal length of the bending section. Extending through the spineformed by the vertebrae are a series of spring plates that together havea varying stiffness along the length of the spine, with increasingstiffness towards the distal end of the bending section where the springplates have a greater stiffness.

FIGS. 5A-5C illustrate a vertebra 50 having a body with a longitudinalaxis 51 and an oval cross-section in a plane orthogonal to the axis 51.Vertebra 50 also has a proximal face 52 at a proximal end 53, and adistal face 54 at a distal end 55. The distal end 55 has a protrusion 56and the proximal end 53 has a groove 57. The protrusion 56 and groove 57are formed to mate or interface with, respectively, a correspondinggroove 57 a and protrusion 56 b of adjacent identically-formed vertebrae50 a and 50 b disposed, respectively, distally and proximally of thevertebra 50, as illustrated in FIG. 6. When assembled along the samelongitudinal axis 51 into a spine 58 having a proximal end 58 p and adistal end 58 d, as illustrated in FIG. 6, the interfacing protrusionsand grooves of adjacent vertebrae slide against each other, and theengagement between the interfacing protrusions 56 and grooves 57 directsthe sliding movement of the vertebra 50 proximate the distal end 58 d inradial directions 59 a and 59 b. As illustrated in FIG. 6, the spine 58is covered by a sheath 60 (shown in part) to form a bending section 125having a proximal end 125 p with a proximal end vertebra 50 p, andhaving a distal end 125 d with a distal connector 61. The proximal end125 p of the bending section 125, at proximal end vertebra 50 p, engagesthe distal portion of a flexible shaft (not shown) similar to theflexible shaft 22 illustrated in FIG. 2A. In a similar manner, thedistal end 125 d of the bending section 125, at the distal connector 61,engages the proximal portion of a distal section (not shown) similar tothe distal section 26 illustrated in FIG. 2A. The vertebrae 50 anddistal connector 61 can be made of any hard plastic (eg polycarbonate,ABS, etc.). The sheath 60 is preferably made from an elastomericbiocompatible material such as Kraton, polyurethane, silicone, etc. Thesheath 60 fits over the vertebrae 50 so as to hold each vertebrae 50adjacent to each other and to maintain a unified spine 58 structure. Theuse of the sheath 60 simplifies the manufacture of the spine 58 becauseeach adjacent vertebrae 50 can be assembled next to each other and heldin position without the use of a direct connection between each adjacentvertebrae 50, by using the sheath 60 to prove a enveloping structureconnecting the vertebrae 50 together to form the spine 58.Alternatively, the sheath 40 can be a shrink wrap that is disposedaround spine 58, and shrunk to hold the vertebrae 50 together in spine58.

As illustrated in FIGS. 5A-5C and 7, two channels 62 are formed withineach vertebra 50 that extend longitudinally along the entire length ofthe bending section 125 (when the vertebrae are aligned to form thebending section 125) until reaching the distal connector 61 where thechannels 62 merge into a single channel 63 extending through the distalconnector 61. Each of the channels 62 guide a wire 64 that slidablyextends through the bending section 125 to connect the proximal end ofthe probe (not shown) to the distal end of the probe (not shown). Thewires 64 are moved at the proximal end of the probe in the direction ofthe longitudinal axis 51 to cause the bending section 125 to move ineither of the two radial directions 59 a or 59 b. The wires 64 may bemade of any material with a suitably high tensile strength and lowstretch, (e.g., plastic, or metal such as stainless steel). Also formedin each vertebra 50 is a channel 67 extending through the spine 58 toguide the wiring connecting the ultrasound transducer 28 distal of thespine 58 to ultrasound equipment proximal to the spine 58, and it mostpreferably a ribbon cable such as that disclosed in U.S. ProvisionalPatent Application No. 60/743,702, filed Mar. 23, 2006, which isincorporated by reference in its entirety.

As also illustrated in FIGS. 5A-5C and 7, a channel 65 extendslongitudinally through each vertebra 50 along the entire length of thebending section 125 (when the vertebrae are aligned to form the bendingsection 125) until reaching the distal connector 61 where the channel 65merges into the single channel 63. The channel 65 preferably has arectangular cross-sectional shape guiding one or more spring plates 66through most of the longitudinal length of the bending section 125. Thespring plates 66 are preferably made of a material with a high elasticlimit such as spring steel (e.g. stainless steel spring steel). Thespring plates 66 are also preferably formed to naturally retain alongitudinally straight form, and with a stiffness that provides aresistance to bending forces. Also, when assembling the spine 58, thespring plates 66 provide a structure onto which each vertebrae can beinstalled by sliding each vertebra 50 over an end of the spring plates66 until forming the completed assembly of the spine 58 and, after allthe vertebrae are in place, the spine assembly can be covered and heldtogether by the sheath 60.

As illustrated in FIGS. 7 and 8, a first spring plate 66 a is disposedwithin the channel 65 and extends from the proximal end vertebra 50 p tothe distal connector 61. The first spring plate 66 a is slidablydisposed within the channel 65 extending through the vertebrae 50 andfixedly connected to the distal connector 61 at the channel 65 extendingthrough the distal connector 61. A shorter second spring plate 66 b isdisposed adjacent and parallel to the first spring plate 66 a. Similarto the first spring plate 66 a, the second spring plate 66 b is slidablydisposed within the channel 65 extending through the vertebrae 50 andfixedly connected to the distal connector 61 at the channel 65 extendingthrough the distal connector 61. A third spring plate 66 c, shorter thanthe second spring plate 66 b, is disposed adjacent and parallel to thesecond spring plate 66 b. Similar to the first and second spring plates66 a and 66 b, the third spring plate 66 c is slidably disposed withinthe channel 65 extending through the vertebrae 50 and fixedly connectedto the distal connector 61 at the channel 65 extending through thedistal connector 61.

As can be appreciated in the design illustrated in FIG. 7, when thewires 64 are moved, and the bending section 125 is caused to move in thedirections of radial directions 59 a or 59 b, the spring plates 66 a, 66b, and 66 c slide relative to each other within the channel 65 whileremaining fixed at the distal connector 61. As can also be appreciated,the radial-directed movement of the bending section 125 is resisted byone or more of the spring plates 66, and there is thus no need for aradially reinforced or braided jacket surrounding the spine to providestiffness to the spine or resistance to the bending forces as seen withother designs. The radial-directed movement of the vertebrae 50 disposedaround only the first spring plate 66 a, near the proximal end 125 p ofthe bending section 125, is resisted by the stiffness of the firstspring plate 66 a. The radial-directed movement of the vertebrae 50disposed around the first and second spring plates 66 a and 66 b isresisted by the combined stiffness of the first and second spring plates66 a and 66 b. The radial-directed movement of the vertebrae 50 disposedaround the first, second and third spring plates 66 a-66 c is resistedby the combined stiffness of the first, second and third spring plates66 a-66 c. As can be appreciated, the combined stiffness of the firstand second spring plates 66 a and 66 b is greater than the stiffness ofthe first spring plate 66 a, and the combined stiffness of the first,second and third spring plates 66 a-66 c is greater than the stiffnessof the first spring plate 66 a or the combination of the first andsecond spring plates 66 a and 66 b. By this arrangement of the springplates 66, the stiffness of the bending section 125 increased in thedistal direction along the longitudinal length of the bending section125.

Alternatively, instead of adjacent spring plates 66 providing a variablestiffness or flexibility to the bending section 125, a single springplate can be used that has material properties that provide a varyingstiffness along the length of the spring plate, such as a combination oftwo or more materials where a stiffer material of the combinationdominates the combination in the stiffer portions of the spring plate.In another alternative, the adjacent spring plates 66 can be replacedwith a single spring plate that has a thickness that varies along thelength of the spring plate, with the varying thickness providing avariable stiffness to the spring plate. In yet another alternative, theadjacent spring plates 66 can be replace by one or more spring platesthat have shapes that provide a variable stiffness, such as a singlespring plate that has a constant thickness along its length but tapersin its width to have a narrower cross-sectional width that reducesstiffness of the spring plate. In still another alternative, theadjacent spring plates 66 can be replaced with one or more spring platesthat are structurally modified to provide a variable stiffness along thelength of the spring plate, such as by constructing the spring plate tohave one or more predetermined holes or notches in or through thesurface of the spring plate to vary the stiffness of the spring platealong its length. In alternative embodiments (not shown), alternativestiffening members (e.g., one or more metal or plastic rods or bars) maybe used in place of the illustrated spring plates.

Varying the flexibility of the bending section 25 in the proximal todistal direction as described above makes a single probe fit a widevariety of anatomies, despite the fact that the LOD may varydramatically from patient to patient. FIG. 4A illustrates the relevantanatomic structures for an average size person, including the esophagus41, the lower esophageal sphincter 42, the stomach 43, the fundus 44,the heart 45, and the left ventricle 46; and FIG. 4B illustrates thecorresponding structures in a larger person (labeled with correspondingreference numbers 41′-46′). Although the LOD for the smaller person isD1, and the LOD for the larger person is D2, in both cases the distalend 26 of the probe 20 can be easily positioned at the OPF, where theprobe can be used to acquire images of the desired imaging planes IP1and IP2, respectively.

Note that for TEE imaging of the TGSAV, a relatively sharp bend isanatomically appropriate because the esophagus 41 is relatively straightand the stomach cavity is large, and a sharp bend facilitates improvedcontact with the superior portion of the fundus 44. This stands incontrast to conventional ultrasound probes, endoscopes, and cathetersthat have traditionally been designed with bending mechanisms designedto bend smoothly and gradually, so as to provide easier their passagethrough the various lumens and cavities of the body.

While the multi-flexibility bending section is described above in thecontext of thin TEE probes, it can also be used with conventional ½ inchdiameter TEE probes, to make it easier to position the probe at the OPF.Moreover, while the various embodiments are described above in thecontext of TEE and obtaining images of the TGSAV of the heart, theprobes may also be used to obtain other transesophageal images, and mayeven be used in cavities other than the esophagus, outside of the bodywhen access is limited, or in non-medical applications. Themulti-flexibility bending section may also be incorporated into probes,endoscopes, or catheters in non-ultrasound medical applications, and mayeven be used in non-medical uses where similar bending characteristicsare desirable. Numerous other modifications to the above-describedembodiments will be apparent to persons skilled in the relevant arts,and are also included within the purview of the invention. For example,instead of an ultrasound transducer 28, the multi-flexibility bendingsection can be used with an optical probe, with a sensor that isacoustic, electrical, or magnetic, or with a device that emits ordetects radiation or vibrations.

While the present invention has been disclosed with reference to certainembodiments, numerous modifications, alterations, and changes to thedescribed embodiments are possible without departing from the sphere andscope of the present invention, as defined in the appended claims.Accordingly, it is intended that the present invention not be limited tothe described embodiments, but that it has the full scope defined by thelanguage of the following claims, and equivalents thereof.

What is claimed is:
 1. An ultrasound probe, comprising: a shaft; adistal section with an ultrasound transducer housed therein; a bendingsection disposed between the shaft and the distal section, the bendingsection having a proximal portion and a distal portion, wherein thedistal portion is flexible and the proximal portion is more flexiblethan the distal portion, and wherein the bending section comprises aplurality of axially-arranged vertebrae; and a bending mechanismconfigured to bend the bending section when actuated, wherein thebending section is configured such that when a part of the bendingsection is distal to a constraint that prevents bending and the bendingmechanism is actuated, a proximal section of the part articulates beforemore distal sections of the part articulate.
 2. The probe of claim 1,wherein the flexibility of the bending section decreases gradually inthe proximal to distal direction.
 3. The probe of claim 1, wherein theflexibility of the bending section decreases in a stepwise manner in theproximal to distal direction.
 4. The probe of claim 1, wherein thebending section contains a middle portion disposed between the proximalportion and the distal portion, and wherein the proximal portion is moreflexible than the middle portion and the middle portion is more flexiblethan the distal portion.
 5. The probe of claim 1, wherein the bendingmechanism comprises at least one pull wire configured to cause thebending section to move in either a first radial direction or a secondradial direction that is opposite to the first radial direction.
 6. Aprobe, comprising: a shaft; a distal section having a sensor; a bendingsection disposed between the shaft and the distal section, the bendingsection having a proximal portion and a distal portion, wherein thedistal portion is flexible and the proximal portion is more flexiblethan the distal portion, and wherein the bending section comprises aplurality of axially-arranged vertebrae; and a bending mechanismconfigured to bend the bending section when actuated, wherein thebending section is configured such that when a part of the bendingsection is distal to a constraint that prevents bending and the bendingmechanism is actuated, a proximal section of the part articulates beforemore distal sections of the part articulate.
 7. The probe of claim 6,wherein the sensor comprises at least one of an optical sensor, athermal sensor, an imaging device, and a pressure sensor.
 8. The probeof claim 7, wherein the bending mechanism comprises at least one pullwire configured to cause the bending section to move in either a firstradial direction or a second radial direction that is opposite to thefirst radial direction.
 9. The probe of claim 6, wherein the flexibilityof the bending section decreases gradually in the proximal to distaldirection.
 10. The probe of claim 6, wherein the flexibility of thebending section decreases in a stepwise manner in the proximal to distaldirection.
 11. The probe of claim 6, wherein the bending sectioncontains a middle portion disposed between the proximal portion and thedistal portion, and wherein the proximal portion is more flexible thanthe middle portion and the middle portion is more flexible than thedistal portion.
 12. The probe of claim 11, wherein the sensor comprisesat least one of an optical sensor, a thermal sensor, an imaging device,and a pressure sensor.
 13. The probe of claim 12, wherein the bendingmechanism comprises at least one pull wire.
 14. An ultrasound probe,comprising: a shaft having a distal end; a distal section having aproximal end and an ultrasound transducer; and a bending section with aflexible proximal portion engaging the shaft distal end and a flexibledistal portion engaging the distal section proximal end, wherein theproximal portion is configured to permit bending in a given directionand has a first flexibility for bending in the given direction and thedistal portion is configured to permit bending in the given directionand has a second flexibility for bending in the given direction, thefirst flexibility being more flexible than the second flexibility,wherein the bending section is configured such that when a part of thebending section is distal to a constraint, a proximal section of thepart articulates before more distal sections of the part articulate, andwherein the bending section comprises a plurality of axially-arrangedvertebrae.
 15. The probe of claim 14, further comprising a bendingmechanism configured to bend the bending section.
 16. The probe of claim15, wherein the bending section comprises at least one pull wireconfigured to cause the bending section to move in either a first radialdirection or a second radial direction that is opposite to the firstradial direction.
 17. The probe of claim 14, further comprising aflexible central portion configured to permit bending in the givendirection and disposed between the proximal and distal portions of thebending section, the central portion having a third flexibility forbending in the given direction different than the first and secondflexibilities.
 18. The probe of claim 17, the first flexibility beingmore flexible than the third flexibility, and the third flexibilitybeing more flexible than the second flexibility.
 19. The probe of claim17, the third flexibility being a gradient flexibility between the firstand second flexibilities.
 20. The probe of claim 17, the thirdflexibility having a variable flexibility between the first and secondflexibilities.
 21. The probe of claim 17, the third flexibility having agraduated flexibility between the first and second flexibilities. 22.The probe of claim 14, the bending section having a tubular jacketdisposed around a longitudinal axis of the bending section, the tubularjacket having a wall with a thickness varying along a longitudinallength of the jacket, the wall thickness defining a graduatedflexibility of the bending section.
 23. The probe of claim 22, thejacket have a plurality of wall thicknesses along the longitudinallength of the jacket.
 24. The probe of claim 23, further comprising abending mechanism configured to bend the bending section.
 25. The probeof claim 23, the jacket wall including one or more outer walls disposedaround the jacket wall.
 26. The probe of claim 14, the proximal portionbeing made from a first material with a first flexibility property, thedistal portion made from a second material with a second flexibilityproperty different than the first flexibility property.
 27. The probe ofclaim 26, further comprising a flexible central portion configured topermit bending in the given direction and disposed between the proximaland distal portions of the bending section, the central portion madefrom a third material with a third flexibility property different thanthe first and second flexibility properties.
 28. The probe of claim 27,the first flexibility property being more flexible than the thirdflexibility property, and the third flexibility property being moreflexible than the second flexibility property.
 29. The probe of claim27, the third flexibility property providing a gradient flexibility ofthe central portion.
 30. The probe of claim 27, the third flexibilityproperty providing a variable flexibility of the central portion. 31.The probe of claim 14, the bending portion including a plurality ofgrooves disposed along an outer surface of the bending portion.
 32. Theprobe of claim 31, wherein the plurality of grooves is longitudinallydisposed on the outer surface of the bending portion, at least onegroove having a depth differing from another groove.
 33. The probe ofclaim 31, the plurality of grooves helically disposed on the outersurface.